public static GameObject Create(this Link.Visual visual, GameObject parent)
{
GameObject gameObject = new GameObject((visual.name == null) ? "unnamed" : visual.name);
gameObject.transform.SetParentAndAlign(parent.transform);
if (visual.origin != null)
{
visual.origin.SetTransform(gameObject);
}
visual.geometry.CreateVisual(gameObject);
if (visual.material != null)
{
UrdfAssetDatabase.SetMaterial(gameObject, visual.material.name);
}
if (gameObject.GetComponentInChildren <Renderer>().sharedMaterial == null)
{
UrdfAssetDatabase.SetDefaultMaterial(gameObject);
}
return(gameObject);
}
public static GameObject CreateVisual(this Link.Geometry.Mesh mesh, GameObject parent)
{
string assetPath = UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename);
GameObject gameObject = Object.Instantiate(AssetDatabase.LoadAssetAtPath <GameObject>(assetPath));
gameObject.transform.SetParentAndAlign(parent.transform);
mesh.setScale(gameObject);
return(gameObject);
}
private static T LocateAssetFile <T>() where T : UnityEngine.Object
{
T assetObject;
string newAssetFilePath = EditorUtility.OpenFilePanel(
"Couldn't find asset at " + fileAssetPath + ". Select correct file.",
Path.Combine(Path.GetDirectoryName(Application.dataPath), "Assets"),
"");
fileAssetPath = UrdfAssetDatabase.GetAssetPathFromAbsolutePath(newAssetFilePath);
assetObject = (T)AssetDatabase.LoadAssetAtPath(fileAssetPath, typeof(T));
return(assetObject);
}
private static T LocateRootAssetFolder <T>(string assetFileName) where T : UnityEngine.Object
{
T assetObject;
string newAssetPath = EditorUtility.OpenFolderPanel(
"Locate package root folder",
Path.Combine(Path.GetDirectoryName(Application.dataPath), "Assets"),
"");
UrdfAssetDatabase.UpdateAssetPath(UrdfAssetDatabase.GetAssetPathFromAbsolutePath(newAssetPath));
fileAssetPath = UrdfAssetDatabase.GetAssetPathFromPackagePath(assetFileName);
assetObject = (T)AssetDatabase.LoadAssetAtPath(fileAssetPath, typeof(T));
return(assetObject);
}
public static GameObject CreateCollider(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject gameObject = new GameObject(mesh.filename + "(MeshCollider)");
GameObject reference = AssetDatabase.LoadAssetAtPath <GameObject>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename));
gameObject.transform.position = reference.transform.position;
gameObject.transform.rotation = reference.transform.rotation;
gameObject.transform.localScale = reference.transform.localScale;
MeshFilter[] meshFilters = reference.GetComponentsInChildren <MeshFilter>();
foreach (MeshFilter meshFilter in meshFilters)
{
MeshCollider meshCollider = gameObject.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
}
gameObject.transform.SetParentAndAlign(parent.transform);
mesh.setScale(gameObject);
return(gameObject);
}
public static T FindUrdfAsset <T>(string assetFileName) where T : UnityEngine.Object
{
fileAssetPath = UrdfAssetDatabase.GetAssetPathFromPackagePath(assetFileName);
T assetObject = AssetDatabase.LoadAssetAtPath <T>(fileAssetPath);
if (assetObject != null)
{
return(assetObject);
}
int option = EditorUtility.DisplayDialogComplex("Urdf Importer: Asset Not Found",
"Current root folder: " + UrdfAssetDatabase.GetAssetRootFolder() +
"\n\nExpected asset path: " + fileAssetPath,
"Locate Asset",
"Ignore Missing Asset",
"Locate Root Folder");
switch (option)
{
case 0:
assetObject = LocateAssetFile <T>();
break;
case 1: break;
case 2:
assetObject = LocateRootAssetFolder <T>(assetFileName);
break;
default: break;
}
if (assetObject != null)
{
return(assetObject);
}
ChooseFailureOption(fileAssetPath);
return(null);
}
public static GameObject Create(this Robot robot)
{
if (UrdfAssetDatabase.GetAssetParentDirectoryPath(robot.filename) == null)
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return(null);
}
UrdfAssetDatabase.Initialize(robot);
GameObject gameObject = new GameObject(robot.name);
robot.root.Create(gameObject);
GameObjectUtility.SetParentAndAlign(gameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(gameObject, "Create " + gameObject.name);
Selection.activeObject = gameObject;
setKinematic(gameObject, true);
return(gameObject);
}
public static GameObject CreateCollider(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject gameObject = Object.Instantiate(AssetDatabase.LoadAssetAtPath <GameObject>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename)));
MeshFilter[] meshFilters = gameObject.GetComponentsInChildren <MeshFilter>();
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
MeshCollider meshCollider = child.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
mesh.setScale(gameObject);
gameObject.transform.SetParentAndAlign(parent.transform);
return(gameObject);
}
